CG, yes you pretty much have to take the cover off to drain the diff fluid. You could loosen all of the top bolts and remove the bottom and let the fluid drain, but why not remove the top bolts since you're already there, so you can inspect the inside, plus once you break the gasket seal, the cover has to come off, for a new seal be it a gasket or silicone. If you have an air compressor, use brake cleaner to spray the inside of the diff, to get out all the old oil and clean things. Then use the compressed air to blow it all dry, plus helps get the oil from the 'pool' in the back. Scrape all old gasket or silicone from the diff housing and diff cover.
P. S. Do you have to let that Silicone/rtv gasket maker dry awhile before you refill?
No, but I do. I give a few hours, if you don't need the truck right away, give it til the next morning. If 4x4 do both front and rear diffs at this time, LSD in front as well. T-case fluid change 80-90wt gear oil , getrag fluid. If you buy Mobil1 synthetic 5w30 for the getrag, you can reuse an empty gear oil bottle, since the mobil1 qts have the big mouth and a pump wont screw down onto the bottle. Squirt the 5w30 thru the fill hole, til it runs out, put plug back in. Then remove the top PTO cover bolt and fill the last 1-1. 5 qts thru it.
Oh yeah and once the diff cover is back on, put in your friction modifyer in first, then gear oil. Winter time take it easy for a few miles so that the 85-140 can get moving, same if you had 80-90 though, but I wouldnt worry bout it.
I'm not a fan of synthetic in t-case of diffs. Synthetic just loves those old seals and small holes/leaks. Yeah its a old myth but it happens... Stick with conventional gear oil and simply change it at the recommened interval. Say no to Lucas, unless were talking injectors. I could go on and on, but once you do this once, you'll be a pro and will tell another first timer the ropes. Just get under there and take it apart and put it back together. Bill